KR102570510B1 - 작업 기계 - Google Patents
작업 기계 Download PDFInfo
- Publication number
- KR102570510B1 KR102570510B1 KR1020217028696A KR20217028696A KR102570510B1 KR 102570510 B1 KR102570510 B1 KR 102570510B1 KR 1020217028696 A KR1020217028696 A KR 1020217028696A KR 20217028696 A KR20217028696 A KR 20217028696A KR 102570510 B1 KR102570510 B1 KR 102570510B1
- Authority
- KR
- South Korea
- Prior art keywords
- control command
- work machine
- control
- obstacle
- vehicle body
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 129
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000006866 deterioration Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 239000010720 hydraulic oil Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 2
- 238000005056 compaction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- G05D2201/0202—
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2019/038465 WO2021064775A1 (ja) | 2019-09-30 | 2019-09-30 | 作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20210124413A KR20210124413A (ko) | 2021-10-14 |
KR102570510B1 true KR102570510B1 (ko) | 2023-08-25 |
Family
ID=75337911
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020217028696A KR102570510B1 (ko) | 2019-09-30 | 2019-09-30 | 작업 기계 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3916161B1 (de) |
JP (1) | JP7198366B2 (de) |
KR (1) | KR102570510B1 (de) |
CN (1) | CN113544336B (de) |
WO (1) | WO2021064775A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2023050808A (ja) * | 2021-09-30 | 2023-04-11 | 株式会社小松製作所 | 作業機械の起動システム、作業機械の起動方法および作業機械 |
JP7349587B1 (ja) | 2022-03-30 | 2023-09-22 | 株式会社Hemisphere Japan | 位置決定装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3215502B2 (ja) | 1992-05-19 | 2001-10-09 | 株式会社小松製作所 | 作業機動作範囲制限装置 |
KR101638839B1 (ko) | 2014-08-19 | 2016-07-12 | 주식회사 영신 | 중장비 접근감시 및 작동정지 제어시스템 |
JP2019108722A (ja) * | 2017-12-18 | 2019-07-04 | 住友重機械工業株式会社 | 建設機械 |
JP6819462B2 (ja) | 2017-05-30 | 2021-01-27 | コベルコ建機株式会社 | 作業機械 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5710926Y2 (de) | 1978-11-09 | 1982-03-03 | ||
JPH101980A (ja) * | 1996-06-14 | 1998-01-06 | Hitachi Constr Mach Co Ltd | 油圧ショベルのフロント制御装置 |
JP2001123479A (ja) * | 1999-10-28 | 2001-05-08 | Hitachi Constr Mach Co Ltd | 自動運転ショベル |
JP5570332B2 (ja) | 2010-07-13 | 2014-08-13 | 住友重機械工業株式会社 | 旋回作業機械及び旋回作業機械の制御方法 |
JP6345080B2 (ja) * | 2014-10-30 | 2018-06-20 | 日立建機株式会社 | 作業機械の旋回支援装置 |
JP6511387B2 (ja) * | 2015-11-25 | 2019-05-15 | 日立建機株式会社 | 建設機械の制御装置 |
-
2019
- 2019-09-30 WO PCT/JP2019/038465 patent/WO2021064775A1/ja unknown
- 2019-09-30 EP EP19948149.0A patent/EP3916161B1/de active Active
- 2019-09-30 CN CN201980093756.6A patent/CN113544336B/zh active Active
- 2019-09-30 KR KR1020217028696A patent/KR102570510B1/ko active IP Right Grant
- 2019-09-30 JP JP2021550739A patent/JP7198366B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3215502B2 (ja) | 1992-05-19 | 2001-10-09 | 株式会社小松製作所 | 作業機動作範囲制限装置 |
KR101638839B1 (ko) | 2014-08-19 | 2016-07-12 | 주식회사 영신 | 중장비 접근감시 및 작동정지 제어시스템 |
JP6819462B2 (ja) | 2017-05-30 | 2021-01-27 | コベルコ建機株式会社 | 作業機械 |
JP2019108722A (ja) * | 2017-12-18 | 2019-07-04 | 住友重機械工業株式会社 | 建設機械 |
Also Published As
Publication number | Publication date |
---|---|
CN113544336B (zh) | 2022-12-16 |
KR20210124413A (ko) | 2021-10-14 |
CN113544336A (zh) | 2021-10-22 |
EP3916161B1 (de) | 2024-04-10 |
JPWO2021064775A1 (ja) | 2021-12-16 |
WO2021064775A1 (ja) | 2021-04-08 |
EP3916161A4 (de) | 2022-10-12 |
JP7198366B2 (ja) | 2022-12-28 |
EP3916161A1 (de) | 2021-12-01 |
US20220145579A1 (en) | 2022-05-12 |
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E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant |